Geometrically Constrained Slope Control for Paving Machines
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Solution Overview
Problem
Paving machines face challenges in controlling multiple dimensions, such as slope and elevation, due to the lack of efficient systems that can accurately monitor and adjust their orientation in three-dimensional space, especially in hostile environments, where existing solutions are either insufficient or excessively costly.
Innovation Solution
A computer control system using a plurality of sensors to determine the location, long slope, cross-slope, and elevation of a paving machine, applying constrained geometric control algorithms to correct deviations and predict future adjustments, allowing for precise control of the machine's orientation and position relative to a design surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If surveying equipment is used to define location and orientation, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The system divides the measurement task into multiple components: multiple sensors are distributed at different locations on the paving machine to collectively define position and orientation. Each sensor provides localized measurement data that is processed together to achieve comprehensive spatial awareness without requiring a single complex surveying system
Solution Approach 2:
The sensors serve multiple functions simultaneously: they track position, determine orientation (pitch, roll, yaw), and provide data for both navigation and slope control. This multi-functionality eliminates the need for separate specialized equipment for each measurement task
2Measurement precision
If multiple sensors are used to improve measurement accuracy, then measurement precision is improved, but device complexity increases
Solution Approach 1:
Multiple sensors are merged into a unified measurement system where their data is integrated through geometric algorithms. The sensors work together as a coordinated network rather than independent units, combining their measurements to achieve high precision in defining the paving machine's position and orientation in three-dimensional space
3Manufacturing precision
If conventional control systems are used, then device complexity is reduced, but manufacturing precision deteriorates
Solution Approach 1:
The system performs preliminary geometric calculations and constraint definitions before the paving operation begins. The control algorithms pre-establish the geometric relationships between multiple sensors and the paving machine's motion parameters, enabling precise slope control to be achieved through coordinated sensor data processing rather than complex real-time adjustments
Data Source
AI summary
A computer control system in a paving machine determines a location, long slope (pitch), cross-slope (roll), and elevation (with respect to reference surface) of the machine with reference to a plurality of sensors. The long slope, cross slope and elevation are compared to values from a design surface (horizontal alignment, vertical profile, and cross sections) using the location of the machine to query the design data. Deviations from measured orientation and elevation to the design (desired values) are determined for each elevation cylinder of the paving machine based on the sensor data using constrained geometric control algorithms that predict future deviations. Corrections are applied to bring the actual location, long slope, cross-slope and elevation to within acceptable tolerances of the desired values. Sensors are associated with specific legs, with some sensors associated with more than one leg, such that sensor values may be averaged to reduce error.